TW202036468A - Apparatus and method for dental image registration - Google Patents

Abstract

The present invention provides a dental image registration device comprising: an outermost boundary detection unit for detecting, from first teeth image data, a first outermost boundary region which is the outermost boundary region of dentition, and detecting, from second teeth image data, a second outermost boundary region which is the outermost boundary region of the dentition; and an image registration unit which registers the first and second teeth image data on the basis of a first inscribed circle inscribed within the first outermost boundary region and a second inscribed circle inscribed within the second outermost boundary region, or registers the first and second teeth image data on the basis of a first central point of the first outermost boundary region and a second central point of the second outermost boundary region.

Description

Tooth image integration device and method

The present invention relates to a tooth image integration device and method, and in particular, to a tooth image integration device and method that can quickly integrate tooth images with relatively high accuracy.

In computer vision, when a scene or object is shot at a different time or point of view, images in different coordinate systems will be obtained. Image integration refers to the process of transforming the above-mentioned different images into a coordinate system.

Through the above-mentioned image integration, it is possible to confirm the correspondence between the images obtained through different measurement methods.

In dental surgical guide software, before entering the steps of dental implant planning, usually CT (Computed Tomography) image data and oral scan (Oral Scan) image data are given priority The image integration process between.

The images integrated through this image integration process are the basis of dental implant planning that grasps the position of bone tissue and neural tube to determine the safe and optimal implant position. Therefore, in the process of subsequent steps, the image The accuracy of integration is extremely important.

In the image integration method provided in the conventional medical software, the user manually input the point as the image integration benchmark, and the image integration is realized based on this. According to the above-mentioned conventional image integration method, the user selects the reference point through the naked eye roughly. Therefore, the result is extremely inaccurate. Therefore, after the image integration, the user's manual operation is bound to be accompanied. That is, the user modifies the integration result by changing the position of the point or selecting the point again. As described above, according to the prior art, due to the repeated process of integration and modification, users will consume a lot of time in the process of image integration, but cannot obtain corresponding satisfactory results.

As another conventional method, an image including markers used as a reference for integration in the oral cavity is acquired, and images acquired from different imaging devices are integrated based on the markers in the image. However, the above method has the following problems: That is, when acquiring images, it is necessary to perform a process of marking for integration in the oral cavity of the patient in advance. Therefore, the process is complicated and also brings inconvenience to the patient.

In the above-mentioned conventional method, the distance between all the vertices in the image is compared to integrate the image. Therefore, the image integration speed is slow. Not only that, it is used to compare the distance between multiple vertices. The comparative system load will also increase.

Therefore, there is a need for a solution that can automatically perform image integration with fast and high accuracy without the use of additional marks or the trouble of manual operation.

In addition, the conventional method includes multiple unnecessary noise components such as the gingival area, which will reduce the accuracy of image integration.

The problem to be solved by the invention

The object of the present invention is to provide a dental image integration device and method that can increase the image integration speed and minimize the system load.

Moreover, the purpose of the present invention is to provide a dental image integration device and method that can automatically perform image integration with high accuracy to increase the convenience of users, and based on this, reduce the time required for dental implant planning And improve the accuracy of dental implant plans.

Technical means to solve the problem

In order to solve the above-mentioned problems, the present invention provides a tooth image integration device. The tooth image integration device includes: a maximum periphery detection unit for detecting the first maximum periphery area as the maximum periphery area of the dentition in the first tooth image data, and the second tooth The image data detects the second largest peripheral area that is the largest peripheral area of the dentition; and the image integration part has a first inscribed circle inscribed with the first largest peripheral area and a second inner inscribed with the second largest peripheral area Based on the circle, the first tooth image data and the second tooth image data are integrated, or based on the first center point of the first largest peripheral area and the second center point of the second largest peripheral area, the first The tooth image data and the second tooth image data are integrated.

In addition, the tooth image integration device of the present invention further includes: an inscribed circle detecting unit for detecting a first inscribed circle inscribed with the first maximum peripheral area, and detecting a second inscribed circle inscribed with the second maximum peripheral area Circle; and an inscribed sphere detecting unit for detecting the first inscribed sphere as the rotating body of the first inscribed circle, and the second inscribed sphere as the rotating body of the second inscribed circle, and the image integration unit is An inscribed ball and a second inscribed ball are used as a reference to integrate the first tooth image data and the second tooth image data.

In addition, the tooth image integration device of the present invention further includes a center point detecting unit for detecting a first center point of the first largest peripheral area, and detecting a second center point of the second largest peripheral area. The image integration portion uses the first center point And the second center point as a reference to integrate the first tooth image data and the second tooth image data.

Wherein, the image integration unit compares the distance between the plurality of first vertices included in the first inscribed ball and the plurality of second vertices included in the second inscribed ball to compare the first tooth image data and the second tooth Image data is integrated.

In addition, the image integration unit compares the distance between the plurality of first vertices included in the first largest peripheral area and the plurality of second vertices included in the second largest peripheral area to compare the first tooth image data and the second tooth Image data is integrated.

In addition, the image integration unit repeats the integration of the first tooth image data and the second tooth image data until the sum of all distances between the plurality of first vertices and the plurality of second vertices becomes below the reference value.

In addition, the image integration unit repeats the integration of the first tooth image data and the second tooth image data according to the reference number of times.

In addition, the dental image integration device of the present invention further includes a preprocessing unit for making the resolution of the first dental image data and the second dental image data the same, and the voxel of the first dental image data and the second dental image data Information becomes vertex information.

In addition, the maximum periphery detection unit detects the first maximum periphery area and the second maximum periphery area into a polygonal shape in which each corner is in contact with the most protruding tooth.

In addition, the inscribed circle detection unit detects the following circles as the first inscribed circle and the second inscribed circle, that is, they are in contact with both sides of the upper end edges on the left and right sides of the first largest peripheral area and the second largest peripheral area, respectively. Two circles with a first radius, and a bisector between the two circles that bisects the first largest peripheral area and the second largest peripheral area and the bisector forming the first largest peripheral area and the second largest peripheral area A circle with a first radius where the edges of the lower end touch each other.

In addition, the center point detection unit uses the average value of the x-axis, y-axis, and z-axis coordinates of the first vertices to detect the first center point, and uses the average value of the x-axis, y-axis, and z-axis coordinates of the second vertices. Value to detect the second center point.

In addition, in the first tooth image data and the second tooth image data, based on the x-axis, y-axis, and z-axis, the maximum periphery detection unit uses a plurality of vertices with a minimum position value and a maximum position value to detect the first maximum The surrounding area and the second largest surrounding area.

In addition, the tooth image integration method of the present invention includes: detecting a first maximum peripheral area as the maximum peripheral area of the dentition in the first dental image data; detecting the maximum peripheral area of the dentition in the second dental image data The step of the second largest peripheral area; and based on the first inscribed circle inscribed with the first largest peripheral area and the second inscribed circle inscribed with the second largest peripheral area, the first tooth image data and The second tooth image data is integrated, or the first tooth image data and the second tooth image data are integrated based on the first center point of the first largest peripheral area and the second center point of the second largest peripheral area .

Wherein, the step of integrating the first tooth image data and the second tooth image data includes: respectively detecting the first inscribed circle and the second inscribed circle inscribed with the first largest peripheral area and the second largest peripheral area, respectively Steps; respectively detecting the first inscribed ball and the second inscribed ball as the rotating body of the first inscribed circle and the second inscribed circle; and take the first inscribed ball and the second inscribed ball as the reference, The step of integrating the first tooth image data and the second tooth image data.

And, the step of integrating the first tooth image data and the second tooth image data includes: detecting the first center point and the second center point of the first largest peripheral area and the second largest peripheral area respectively; The center point and the second center point are used as a reference to integrate the first tooth image data and the second tooth image data.

Compare the effects of previous technologies

According to the present invention, the present invention has the effect of comparing only the distance between a plurality of vertices included in the inscribed sphere of the first dental image data and the second dental image data, or only comparing the distances included in the first dental image data The distances of the multiple vertices in the largest peripheral area of the first tooth image data and the second tooth image data are compared to integrate the images. Therefore, the difference between all vertices included in the first tooth image data and the second tooth image data Comparing the distances between the images can improve the speed of image integration. Not only that, but also the system load for comparing the distances between multiple vertices can be minimized.

In addition, according to the present invention, the present invention has the following effects, that is, it can automatically perform image integration with high accuracy to increase the convenience of users. Based on this, the time required for dental implant planning is reduced and the dental implant plan is improved. The accuracy of the painting.

The effects that can be obtained in the present invention are not limited to the above-mentioned effects, and those of ordinary skill in the art to which the present invention pertains can clearly understand other effects that are not mentioned from the following description.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In this case, in the figure, the same reference numerals are given to the same components as much as possible. Furthermore, detailed descriptions of known functions and structures that may make the gist of the present invention unclear will be omitted.

In the embodiments of the present invention, each structural element may be composed of one or more structural elements, and the electrical, electronic, and mechanical functions performed by each structural element may be embodied as circuits, integrated circuits, and dedicated integrated circuits (ASIC, Application Specific Integrated Circuit) and other well-known units or mechanical elements are separately embodied or combined by two or more.

>First Embodiment>

FIG. 1 is a block diagram of a tooth image integration device according to a first embodiment of the invention.

As shown in FIG. 1, the tooth image integration device 100 according to the first embodiment of the present invention may include a maximum periphery detection part 110, an inscribed circle detection part 120, an inscribed ball detection part 130 and an image integration part 140.

The dental image integration device 100 of the first embodiment of the present invention aligns the first dental image data and the second dental image data.

Among them, the first dental image data and the second dental image data are image data with different coordinate systems or resolutions due to different image capturing devices or acquired at different time points, and may be computer tomographic image data, oral cavity One of scan image data and MRI (Magnetic Resonance Image, MRI) image data.

On the other hand, although not shown in the figure, the dental image integration device 100 of the embodiment of the present invention may further include a direction alignment part (not shown) and a preprocessing part (not shown).

Wherein, before the image integration, the direction aligning part (not shown) aligns the first tooth image data and the second tooth image data so that the first tooth image data and the second tooth image data face the same direction.

Moreover, the preprocessing unit (not shown) is configured to express the unit distance of the object in the space of the first tooth image data and the second tooth image data volume, thereby making the resolution of the first tooth image data and the second tooth image data the same. Moreover, the Marching Cube Algorithm is used to change the voxel information of the first tooth image data and the second tooth image data to vertex information.

Among them, the moving cube algorithm, as an algorithm for isosurface extraction from three-dimensional image data, is an algorithm widely used in the field of imaging technology, and therefore, a detailed description thereof will be omitted.

2 and 3 are diagrams for explaining the method of detecting the largest peripheral area in the tooth image data when the dentition has all the teeth as the first embodiment of the present invention. 4 and 5 are diagrams for explaining a method of detecting the maximum peripheral area in the tooth image data when the dentition does not have a part of the teeth as the first embodiment of the present invention.

2 and 4, the maximum periphery detection unit 110 detects the first maximum periphery area A1 as the maximum periphery area of the dentition in the first tooth image data. 3 and 5, in the second tooth image data, the second largest peripheral area A2, which is the largest peripheral area of the dentition, is detected.

Among them, the largest peripheral areas A1 and A2 may be in the form of a figure capable of accommodating all the teeth in the dentition, and each edge of the figure is in contact with the most protruding tooth part along the corresponding edge direction. That is, the maximum periphery detection unit 110 may detect the first maximum periphery area A1 and the second maximum periphery area A2 as a polygonal shape in which each edge is in contact with the most protruding tooth.

For example, as shown in Figures 2 and 3, when the dentition has all the teeth and is aligned accurately, the first largest peripheral area A1 and the second largest peripheral area A2 can be detected as rectangles, as shown in Figures 4 and 5 As shown, in the case where there is no part of the teeth (for example, molars) in the dentition, the first largest peripheral area A1 and the second largest peripheral area A2 can be detected as trapezoids.

The maximum periphery detection unit 110 can detect the first maximum periphery area A1 and the second maximum periphery area A2 in three dimensions by including depth coordinates as Z-axis coordinates in the two dimensions of the x-axis and the y-axis and the crown length.

The maximum periphery detection unit 110 performs structural and morphological analysis on the first tooth image data and the second tooth image data, and distinguishes the tooth region from other regions, such as the gums, through image analysis processing based on grayscale algorithms It is possible to detect the first largest peripheral area A1 and the second largest peripheral area A2 in the tooth area without including other areas.

Among them, the maximum periphery detection unit 110 may use the x-axis, y-axis, and z-axis as a reference in the first tooth image data and the second tooth image data, and use multiple vertices with the minimum position value and the maximum position value to detect the first The largest peripheral area A1 and the second largest peripheral area A2.

Specifically, the lower sides of the first largest peripheral area A1 and the second largest peripheral area A2 detect the vertex with the smallest position value based on the y-axis, and generate the horizontal extension line to include the vertex. Furthermore, the left and right sides of the first largest peripheral area A1 and the second largest peripheral area A2 respectively detect a plurality of vertices having a minimum position value and a maximum position value based on the x-axis, and respectively generate vertical extensions to include the plurality of vertices. line. Furthermore, the upper edges of the first largest peripheral area A1 and the second largest peripheral area A2 respectively detect a plurality of vertices having the largest position values in the left and right areas on the basis of the bisecting line L that bisects the x-axis. The extension line is generated to include multiple vertices described above. Then, a first maximum peripheral area A1 and a second maximum peripheral area A2 having the intersection of the generated plurality of extension lines as vertices are generated.

6 and 7 are diagrams for explaining the method of detecting the inscribed circle in the largest peripheral area when the dentition has all the teeth as the first embodiment of the present invention. 8 and 9 are diagrams for explaining the method of detecting the inscribed circle in the largest peripheral area when the dentition does not have a part of the teeth as the first embodiment of the present invention.

6 and 8, the inscribed circle detection unit 120 detects the first inscribed circle S1 inscribed with the first maximum peripheral area A1. 7 and 9, the second inscribed circle S2 inscribed with the second largest peripheral area A2 is detected.

The inscribed circle detection unit 120 can detect three first inscribed circles S1 in the first maximum peripheral area A1. Specifically, the inscribed circle detection unit 120 may detect the following circles as the first inscribed circle S1, namely, two inscribed circles S1 that are in contact with both sides of the upper end edges on the left and right sides of the first largest peripheral area A1 and have a first radius. Circle, and between the two detected circles, the bisector L that bisects the first maximum peripheral area A1 intersects with the side forming the lower end of the first maximum peripheral area A1 and has a first A circle with a radius.

Similarly, the inscribed circle detection unit 120 can detect three second inscribed circles S2 in the second largest peripheral area A2. Specifically, the inscribed circle detection unit 120 may detect the following circles as the second inscribed circle S2, that is, the two inscribed circles S2 that are in contact with both sides of the upper end edges on the left and right sides of the second largest peripheral area A2 and have the first radius. Circle, and contact with the position where the bisecting line L that bisects the second largest peripheral area A2 bisects the second largest peripheral area A2 intersects with the side forming the lower end of the second largest peripheral area A2 and has the first A circle with a radius.

The inscribed sphere detection unit 130 detects a first inscribed sphere that is a rotating body of the first inscribed circle S1.

Among them, the x-axis and y-axis center coordinates of the first inscribed sphere are the same as those of the first inscribed circle S1, and the x-axis and y-axis center coordinates of the second inscribed sphere are the same as those of the second inscribed circle. The x-axis and y-axis center coordinates of circle S2 are the same.

Furthermore, the inscribed sphere detection unit 130 may calculate the average value of the z-axis coordinates as the depth information of the plurality of first vertices included in the first inscribed circle S1 into the z-axis coordinates of the center of the first inscribed sphere, and The center of the first inscribed sphere is the reference, and the first inscribed sphere with the first radius can be detected.

Similarly, the inscribed sphere detection unit 130 detects the second inscribed sphere that is a rotating body of the second inscribed circle S2.

Among them, the x-axis and y-axis center coordinates of the second inscribed sphere are the same as the x-axis and y-axis center coordinates of the second inscribed circle S2, and the x-axis and y-axis center coordinates of the second inscribed sphere are the same as those of the second inscribed circle The x-axis and y-axis center coordinates of circle S2 are the same.

Furthermore, the inscribed sphere detection unit 130 may calculate the average value of the z-axis coordinates as the depth information of the plurality of second vertices included in the second inscribed circle S2 as the z-axis coordinates of the center of the second inscribed sphere, and The center of the second inscribed sphere is the reference, and the second inscribed sphere with the first radius can be detected.

On the other hand, the first inscribed ball and the second inscribed ball detected as above include teeth.

10 is a diagram for explaining a method for the image integration unit to integrate the first tooth image data and the second tooth image data according to the first embodiment of the present invention.

The image integration unit 140 integrates the first tooth image data and the second tooth image data on the basis of the first inscribed ball and the second inscribed ball.

Specifically, referring to FIG. 10, after the image integration unit 140 overlaps the first tooth image data and the second tooth image data on the basis of the first inscribed ball and the second inscribed ball, the pair is included in the first The distances between the first vertices of the inscribed ball and the second vertices included in the second inscribed sphere are compared to integrate the first tooth image data and the second tooth image data.

The image integration unit 140 may repeatedly perform the integration of the first tooth image data and the second tooth image data until the sum of all distances between the plurality of first vertices and the plurality of second vertices becomes below the reference value.

Among them, the reference value can be preset by the user and can be changed according to the accuracy of the target image integration. That is, the higher the accuracy of target image integration, the smaller the reference value.

Specifically, referring to FIG. 10, if the integration process is repeated to make the distance between the first vertices s1, s2, s3 and the second vertices d1, d2, d3 sufficiently small, the integration process can be repeated. So that the distances l1, l2, and l3 of the extension line extending to the plurality of first vertices s1, s2, s3 and the above extension line and the plurality of second vertices are The distance of the vertical vectors of d1, d2, and d3 becomes smaller.

In contrast, the image integration unit 140 may repeatedly perform the image integration of the first tooth image data and the second tooth image data for a reference number of times.

Among them, the reference number of times can be preset by the user, and can be changed according to the target image integration accuracy. That is, the more the number of image integration is repeated, the accuracy of the image integration will be improved. Therefore, the higher the accuracy of the target image integration, the number of benchmarks will increase.

As described above, in the tooth image integration device 100 of the first embodiment of the present invention, only the distance between the vertices included in the first tooth image data and the second tooth image data is compared to integrate the images. Therefore, compared with comparing the distance between all vertices included in the first tooth image data and the second tooth image data to integrate the images, the image integration speed can be increased. Not only that, but also multiple vertices The distance between the system load is minimized.

Moreover, in the dental image integration device 100 of the embodiment of the present invention, image integration is automatically performed with high accuracy to increase the convenience of users. Based on this, the time required for dental implant planning can be reduced and dental implants can be improved. The accuracy of the plan.

The dental image integration device 100 of the first embodiment of the present invention may further include an integrated display unit 150 for displaying the first dental image data and the second dental image data.

The display unit 150 can display the integration result of the first tooth image data and the second tooth image data, so that the user can confirm the result.

Specifically, when the display unit 150 displays the integration result, in the integrated image, it is possible to provide a mark for grasping the accuracy of the image integration result by displaying the inconsistent or relatively inaccurate parts of the integration in different colors, so that the user The accuracy of the integration can be objectively grasped.

The display unit 150 includes a liquid crystal display (LCD), a light emitting diode (LED) display, an organic light emitting diode (OLED, organic LED) display, and a micro electro mechanical system (MEMS). systems) displays and electronic paper (electronic paper) displays. Wherein, the display unit 150 may be combined with an input unit (not shown) to be embodied as a touch screen.

FIG. 11 is a flowchart of a method for integrating dental images according to the first embodiment of the present invention.

Hereinafter, referring to FIG. 1 to FIG. 11, the method of tooth image integration according to the first embodiment of the present invention will be described, and the same content as the tooth image integration device of the first embodiment of the present invention will be omitted.

In the tooth image integration method of the first embodiment of the present invention, first, the first maximum peripheral area A1 as the maximum peripheral area of the dentition is detected in the first dental image data (step S11).

Next, the first inscribed circle S1 inscribed in the first maximum peripheral area A1 is detected (step S21), and the first inscribed sphere that is a rotating body of the first inscribed circle S1 is detected (step S31).

Similarly, the second largest peripheral area A2, which is the largest peripheral area of the dentition, is detected in the second dental image data (step S12).

Next, the second inscribed circle S2 inscribed in the second largest peripheral area A2 is detected (step S22), and the second inscribed sphere that is a rotating body of the second inscribed circle S2 is detected (step S32).

Then, the first tooth image data and the second tooth image data are integrated based on the first inscribed ball and the second inscribed ball (step S40).

Wherein, in the step S40 of integrating the first dental image data and the second dental image data, the first dental image data and the second dental image data are overlapped based on the first and second inscribed balls ( After over lap), the distances between the first vertices included in the first inscribed ball and the second vertices included in the second inscribed ball are compared to compare the first tooth image data and the second tooth The entire column of image data.

In addition, in step S40 of aligning the first tooth image data and the second tooth image data, the integration of the first tooth image data and the second tooth image data is repeated until a plurality of first vertices and second vertices are formed. The sum of all distances becomes below the reference value.

In addition, in step S40 of integrating the first dental image data and the second dental image data, the integration of the first dental image data and the second dental image data is repeated for a reference number of times.

As described above, in the dental image integration method of the first embodiment of the present invention, only one of the vertices included in the first maximum peripheral area and the second maximum peripheral area of the first dental image data and the second dental image data Compare the distance between the images to integrate the images. Therefore, compared with the distance between all the vertices included in the first tooth image data and the second tooth image data to integrate the images, the image integration speed can be improved. Not only that, but the system load for comparing the distance between multiple vertices can be minimized.

Moreover, in the dental image integration method of the first embodiment of the present invention, image integration is automatically performed with high accuracy to increase the convenience of users. Based on this, the time required for dental implant planning is reduced and the dental implant plan is improved. The accuracy of the painting.

On the other hand, the dental image integration method of the first embodiment of the present invention can be formulated by a program executable in a computer and embodied in various recording media such as magnetic storage media, optical reading media, and digital storage media.

In the above-mentioned first embodiment, an example is used to describe the situation of the computer tomography image data and the oral scan computer tomography image data, such as between the computer tomography image data, the oral scan image data, and the MRI data and the computer tomography image. Between data, etc., for multiple combinations of two-dimensional image data, between two-dimensional image data and three-dimensional image data, and between three-dimensional image data, the maximum peripheral area of the dentition is detected in the image data by the same method as above To perform image integration. In this case, as described above, when detecting the maximum peripheral area of the tooth in the three-dimensional image data, taking into account that the X-axis and Y-axis coordinates and the periphery of the tooth row change according to the crown length, calculate within the crown length As the depth coordinate of the Z-axis coordinate, the maximum peripheral area of the tooth is finally detected. Moreover, in addition to the above-mentioned three-dimensional image data, it is applicable to multi-dimensional images including four-dimensional image data.

>Second Embodiment>

FIG. 12 is a block diagram of a tooth image integration device according to a second embodiment of the invention.

As shown in FIG. 12, the tooth image integration device 200 according to the second embodiment of the present invention may include a maximum periphery detection part 210, a center point detection part 220 and an image integration part 240.

The dental image integration device 200 of the second embodiment of the present invention is used to integrate the first dental image data and the second dental image data.

Among them, the first dental image data and the second dental image data are image data with different coordinate systems or resolutions due to different image capturing devices or acquired at different time points, and may be computer tomographic image data, oral cavity One of scan image data and MRI (Magnetic Resonance Image, MRI) image data.

On the other hand, although not shown, the tooth image integration device 200 of the second embodiment of the present invention may further include a direction alignment part (not shown) and a preprocessing part (not shown).

Wherein, before the image integration, the direction aligning part (not shown) aligns the first tooth image data and the second tooth image data so that the first tooth image data and the second tooth image data face the same direction.

Moreover, the preprocessing unit (not shown) is configured to express the unit distance of the object in the space of the first tooth image data and the second tooth image data volume, thereby making the resolution of the first tooth image data and the second tooth image data the same. Moreover, the Marching Cube Algorithm is used to change the voxel information of the first tooth image data and the second tooth image data to vertex information.

Among them, the moving cube algorithm, as an algorithm for isosurface extraction from three-dimensional image data, is an algorithm widely used in the field of imaging technology, and therefore, a detailed description thereof will be omitted.

13 and 14 are diagrams for explaining a method of detecting the maximum peripheral area and the center point in the two-dimensional dental image data as the second embodiment of the present invention. 15 and 16 are diagrams for explaining the method of detecting the maximum peripheral area and the center point in the three-dimensional dental image data as the second embodiment of the present invention.

13, the maximum periphery detection unit 210 detects the first maximum periphery area A1 as the maximum periphery area of the dentition in the first tooth image data. Furthermore, referring to FIG. 14, the second largest peripheral area A2 that is the largest peripheral area of the dentition is detected in the second tooth image data.

Among them, the largest peripheral areas A1 and A2 are in the form of patterns that can accommodate all the teeth in the dentition, and may be the areas where each edge of the pattern is in contact with the part of the tooth that protrudes most toward the corresponding edge. That is, the maximum periphery detection unit 210 may detect the first maximum periphery area A1 and the second maximum periphery area A2 as a polygonal shape in which each edge is in contact with the most protruding tooth.

For example, as shown in FIGS. 13 and 14, in the case where the dentition has all the teeth and is aligned accurately, the first largest peripheral area A1 and the second largest peripheral area A2 can be detected as rectangular.

On the other hand, when there is no part of the teeth (for example, molars) in the dentition, the first largest peripheral area A1 and the second largest peripheral area A2 can be detected as trapezoids.

15 and 16, the maximum periphery detection unit 210 can detect the first maximum periphery area A1 and the second maximum periphery area A1 and the second maximum periphery area A1 in three dimensions by including the depth coordinate as the Z axis coordinate in the two dimensions of the x axis and the y axis and the crown length. The largest surrounding area A2.

The maximum periphery detection unit 210 performs structural and morphological analysis on the first tooth image data and the second tooth image data, and distinguishes the tooth area from other areas, such as the gums, through image analysis processing based on grayscale algorithms. It is possible to detect the first largest peripheral area A1 and the second largest peripheral area A2 in the tooth area without including other areas.

Among them, the maximum periphery detection unit 210 may use the x-axis, y-axis, and z-axis as the reference in the first tooth image data and the second tooth image data, and use multiple vertices with the minimum position value and the maximum position value to detect the first The largest peripheral area A1 and the second largest peripheral area A2.

Specifically, the lower sides of the first largest peripheral area A1 and the second largest peripheral area A2 detect the vertex with the smallest position value based on the y-axis, and generate the horizontal extension line to include the vertex. Furthermore, the left and right sides of the first largest peripheral area A1 and the second largest peripheral area A2 respectively detect a plurality of vertices having a minimum position value and a maximum position value based on the x-axis, and respectively generate vertical extensions to include the plurality of vertices. line. Furthermore, the upper edges of the first largest peripheral area A1 and the second largest peripheral area A2 are based on the bisecting line that bisects the x-axis as a reference to detect a plurality of vertices with the largest position values in the left and right areas, and An extension line is generated by including multiple vertices. Then, a first maximum peripheral area A1 and a second maximum peripheral area A2 having the intersection of the generated plurality of extension lines as vertices are generated.

13, the center point detecting unit 220 detects the first center point C1 of the two-dimensional first maximum peripheral area A1. Also, referring to FIG. 14, the second center point C2 of the two-dimensional second largest peripheral area A2 is detected.

Specifically, the center point detection unit 220 detects the first center point C1 by using an average value of the x-axis and y-axis coordinates of the plurality of first vertices included in the first maximum peripheral area A1. Furthermore, the second center point C2 is detected using the average value of the x-axis and y-axis coordinates of the plurality of second vertices included in the second largest peripheral area A2.

In addition, referring to FIG. 15, the center point detecting unit 220 detects the first center point C1 of the three-dimensional first maximum peripheral area A1. Also, referring to FIG. 16, the second center point C2 of the three-dimensional second largest peripheral area A2 is detected.

Specifically, the center point detection unit 220 detects the first center point C1 by using an average value of the x-axis, y-axis, and z-axis coordinates of the plurality of first vertices included in the first maximum peripheral area A1. Furthermore, the second center point C2 is detected using the average value of the x-axis, y-axis, and z-axis coordinates of the plurality of second vertices included in the second largest peripheral area A2.

FIG. 17 is a diagram for explaining a method for the image integration unit to integrate the first tooth image data and the second tooth image data according to the second embodiment of the present invention.

The image integration unit 240 integrates the first tooth image data and the second tooth image data on the basis of the first center point C1 and the second center point C2.

Specifically, referring to FIG. 17, the image integration unit 240 uses the first center point C1 and the second center point C2 as a reference, and after overlapping the first tooth image data and the second tooth image data, the pair of images included in the first The distance between the plurality of first vertices of the largest peripheral area A1 and the plurality of second vertices included in the second largest peripheral area A2 is compared to integrate the first tooth image data and the second tooth image data.

The image integration unit 240 repeatedly performs image integration of the first tooth image data and the second tooth image data until the sum of the distances between the plurality of first vertices and the plurality of second vertices becomes below the reference value.

Among them, the reference value can be preset by the user and can be changed according to the accuracy of the target image integration. That is, the higher the accuracy of target image integration, the smaller the reference value.

Specifically, referring to FIG. 17, if the integration process is repeated to sufficiently reduce the distance between the plurality of first vertices s1, s2, s3 and the plurality of second vertices d1, d2, d3, the integration process can be repeated. So that the distances l1, l2, and l3 of the extension line extending to the plurality of first vertices s1, s2, s3 and the above extension line and the plurality of second vertices are The distance of the vertical vectors of d1, d2, and d3 becomes smaller.

In contrast, the image integration unit 240 may repeatedly perform the image integration of the first tooth image data and the second tooth image data for a reference number of times.

Among them, the reference number of times can be preset by the user, and can be changed according to the target image integration accuracy. That is, the more the number of image integration is repeated, the accuracy of the image integration will be improved. Therefore, the higher the accuracy of the target image integration, the number of benchmarks will increase.

As described above, in the dental image integration device 200 of the second embodiment of the present invention, only the first maximum peripheral area A1 and the second maximum peripheral area A2 included in the first dental image data and the second dental image data are processed. The distance between the two vertices is compared to integrate the image. Therefore, compared with the distance between all the vertices included in the first tooth image data and the second tooth image data to integrate the image, it can improve The speed of image integration is not only that, but the system load for comparing the distance between multiple vertices can be minimized.

Moreover, in the dental image integration device 200 of the second embodiment of the present invention, image integration is automatically performed with high accuracy to increase the convenience of users. Based on this, the time required for dental implant planning can be reduced and the time required for dental implant planning can be improved. The accuracy of the dental implant plan.

The dental image integration device 200 of the second embodiment of the present invention may further include an integrated display part 250 for displaying the first dental image data and the second dental image data.

The display part 250 can display the integration result of the first tooth image data and the second tooth image data, so that the user can confirm the result.

Specifically, when the display part 250 displays the integration result, in the integrated image, a mark can be provided to grasp the accuracy of the image integration result by displaying the parts that do not match or are relatively inaccurate in different colors, so that the user The accuracy of the integration can be objectively grasped.

The display unit 250 includes a liquid crystal display (LCD), a light emitting diode (LED) display, an organic light emitting diode (OLED, organic LED) display, and a micro electro mechanical system (MEMS). systems) displays and electronic paper (electronic paper) displays. Wherein, the display part 250 may be combined with an input part (not shown) to be embodied as a touch screen.

FIG. 18 is a flowchart of a method for integrating dental images according to a second embodiment of the present invention.

Hereinafter, referring to FIG. 12 to FIG. 18, the method of tooth image integration according to the second embodiment of the present invention will be described, and the same content as the tooth image integration device of the second embodiment of the present invention will be omitted.

In the tooth image integration method of the second embodiment of the present invention, first, the first maximum peripheral area A1 as the maximum peripheral area of the dentition is detected in the first dental image data (step S110).

Next, the first center point C1 of the first maximum peripheral area A1 is detected (step S210).

Similarly, the second largest peripheral area A2, which is the largest peripheral area of the dentition, is detected in the second dental image data (step S120).

Next, the center point C2 of the second largest peripheral area A2 is detected (step S220).

Then, the first tooth image data and the second tooth image data are integrated with the first center point C1 and the second center point C2 as a reference (step S300).

Wherein, in the step S300 of integrating the first tooth image data and the second tooth image data, the first tooth image data and the second tooth image data are overlapped with the first center point C1 and the second center point C2 as a reference ( After over lap), the distance between the first vertices included in the first largest peripheral area A1 and the second vertices included in the second largest peripheral area A2 is compared to compare the first tooth image data and the second 2. Alignment of tooth image data.

In addition, in step S300 of aligning the first tooth image data and the second tooth image data, the integration of the first tooth image data and the second tooth image data is repeated until a plurality of first vertices and second vertices are formed. The sum of all distances becomes below the reference value.

In addition, in the step S300 of integrating the first dental image data and the second dental image data, the integration of the first dental image data and the second dental image data is repeated for a reference number of times.

As described above, in the dental image integration method of the second embodiment of the present invention, only one of the vertices included in the first maximum peripheral area and the second maximum peripheral area of the first dental image data and the second dental image data Compare the distance between the images to integrate the images. Therefore, compared with the distance between all the vertices included in the first tooth image data and the second tooth image data to integrate the images, the image integration speed can be improved. Not only that, but the system load for comparing the distance between multiple vertices can be minimized.

Moreover, in the dental image integration method of the second embodiment of the present invention, image integration is automatically performed with high accuracy to increase the convenience of users. Based on this, the time required for dental implant planning is reduced and the dental implant plan is improved. The accuracy of the painting.

On the other hand, the dental image integration method of the second embodiment of the present invention can be formulated by a program executable in a computer and embodied in various recording media such as magnetic storage media, optical reading media, and digital storage media.

In the above-mentioned second embodiment, an example is used to illustrate the situation of computer tomography image data and oral scan computer tomography image data, such as between computer tomography image data, oral scan image data, and MRI data and computer tomography image. Between data, etc., for multiple combinations of two-dimensional image data, between two-dimensional image data and three-dimensional image data, and between three-dimensional image data, the maximum peripheral area of the dentition is detected in the image data by the same method as above To perform image integration. In this case, as described above, when detecting the maximum peripheral area of the tooth in the three-dimensional image data, taking into account that the X-axis and Y-axis coordinates and the periphery of the tooth row change according to the crown length, calculate within the crown length As the depth coordinate of the Z-axis coordinate, the maximum peripheral area of the tooth is finally detected. Moreover, in addition to the above-mentioned three-dimensional image data, it is applicable to multi-dimensional images including four-dimensional image data.

On the other hand, the embodiments of the present invention disclosed in this specification and the drawings are specific examples disclosed in order to easily explain the technical content of the present invention and help understand the present invention, and the scope of the present invention is not limited thereto. That is, it is obvious to a person of ordinary skill in the technical field to which the present invention belongs that there can be other modifications based on the technical idea of the present invention.

100, 200: Dental image integration device 110, 210: Maximum peripheral detection part 120: Inscribed circle detection part 130: Inscribed ball detection department 220: Center Point Detection Department 140, 240: Image Integration Department 150, 250: Display A1: The first largest surrounding area A2: The second largest surrounding area C1: the first center point C2: second center point L: bisector S1: The first inscribed circle S2: The second inscribed circle s1, s2, s3: the first vertex d1, d2, d3: second vertex n1, n2, n3: vertical vector l1, l2, l3: distance

FIG. 1 is a block diagram of a tooth image integration device according to a first embodiment of the invention.

2 and 3 are diagrams for explaining the method of detecting the largest peripheral area in the tooth image data when the dentition has all the teeth as the first embodiment of the present invention.

4 and 5 are diagrams for explaining a method of detecting the maximum peripheral area in the tooth image data when the dentition does not have a part of the teeth as the first embodiment of the present invention.

6 and 7 are diagrams for explaining the method of detecting the inscribed circle in the largest peripheral area when the dentition has all the teeth as the first embodiment of the present invention.

8 and 9 are diagrams for explaining the method of detecting the inscribed circle in the largest peripheral area when the dentition does not have a part of the teeth as the first embodiment of the present invention.

10 is a diagram for explaining a method for the image integration unit to integrate the first tooth image data and the second tooth image data according to the first embodiment of the present invention.

FIG. 11 is a flowchart of a method for integrating dental images according to the first embodiment of the present invention.

FIG. 12 is a block diagram of a tooth image integration device according to a second embodiment of the invention.

13 and 14 are diagrams for explaining a method of detecting the maximum peripheral area and the center point in the two-dimensional dental image data as the second embodiment of the present invention.

15 and 16 are diagrams for explaining the method of detecting the maximum peripheral area and the center point in the three-dimensional dental image data as the second embodiment of the present invention.

FIG. 17 is a diagram for explaining a method for the image integration unit to integrate the first tooth image data and the second tooth image data according to the second embodiment of the present invention.

FIG. 18 is a flowchart of a method for integrating dental images according to a second embodiment of the present invention.

100: Dental imaging integration device

110: Maximum peripheral detection department

120: Inscribed circle detection part

130: Inscribed ball detection department

140: Image Integration Department

150: Display

Claims (15)

A tooth image integration device, which includes: The maximum periphery detection unit detects the first maximum periphery area as the maximum periphery area of the dentition in the first tooth image data, and detects the second maximum periphery area as the maximum periphery area of the dentition in the second tooth image data; and The image integration part is based on the first inscribed circle inscribed with the first largest peripheral area and the second inscribed circle inscribed with the second largest peripheral area, for the first tooth image data and the second The tooth image data is integrated, or, based on the first center point of the first largest peripheral area and the second center point of the second largest peripheral area, the first dental image data and the second dental image data Integration. The tooth image integration device according to claim 1, wherein: Also includes: An inscribed circle detecting portion for detecting the first inscribed circle inscribed with the first largest peripheral area, and detecting the second inscribed circle inscribed with the second largest peripheral area; and The inscribed ball detecting unit is used to detect the first inscribed sphere as the rotating body of the first inscribed circle, and detect the second inscribed sphere as the rotating body of the second inscribed circle, The image integration unit integrates the first tooth image data and the second tooth image data on the basis of the first inscribed ball and the second inscribed ball. The tooth image integration device according to claim 1, which further includes: A center point detection unit for detecting the first center point of the first largest peripheral area, and detecting the second center point of the second largest peripheral area, The image integration part integrates the first tooth image data and the second tooth image data on the basis of the first center point and the second center point. The tooth image integration device according to claim 2, wherein the image integration part pair is included between a plurality of first vertices included in the first inscribed sphere and a plurality of second vertices included in the second inscribed sphere To compare the first tooth image data and the second tooth image data. The tooth image integration device according to claim 3, wherein the image integration part pair is included between a plurality of first vertices included in the first largest peripheral area and a plurality of second vertices included in the second largest peripheral area To compare the first tooth image data and the second tooth image data. The tooth image integration device according to claim 4 or 5, wherein the image integration unit repeatedly integrates the first tooth image data and the second tooth image data until the plurality of first vertices and the plurality of first vertices The sum of all the distances between the two vertices becomes below the reference value. The dental image integration device according to claim 4 or 5, wherein the image integration unit repeats the integration of the first dental image data and the second dental image data according to a reference number of times. The tooth image integration device according to claim 4 or 5, further comprising a preprocessing unit for making the resolution of the first tooth image data and the second tooth image data the same, and the first tooth image The data and the voxel information of the second tooth image data become vertex information. The tooth image integration device according to claim 4 or 5, wherein the maximum periphery detection unit detects the first maximum periphery area and the second maximum periphery area into a polygonal shape whose corners are in contact with the most protruding teeth. The tooth image integration device according to claim 4, wherein the inscribed circle detection unit detects the following circles as the first inscribed circle and the second inscribed circle, that is, respectively, and the first largest peripheral area And two circles with a first radius on both sides of the upper end edges on the left and right sides of the second largest peripheral area, and the first largest peripheral area and the second largest peripheral area are halved between the two circles The bisector of is in contact with a circle with the above-mentioned first radius at a position where the edges forming the first maximum peripheral area and the lower end of the second maximum peripheral area intersect. The tooth image integration device according to claim 5, wherein the center point detection unit detects the first center point by using an average value of the x-axis, y-axis, and z-axis coordinates of the plurality of first vertices, and uses the multiple The average value of the x-axis, y-axis and z-axis coordinates of the second vertices is used to detect the second center point. The tooth image integration device according to claim 4 or 5, wherein in the first tooth image data and the second tooth image data, based on the x-axis, y-axis, and z-axis, the maximum periphery detection unit uses A plurality of vertices having a minimum position value and a maximum position value are used to detect the first maximum peripheral area and the second maximum peripheral area. A tooth image integration method, which includes: A step of detecting the first largest peripheral area as the largest peripheral area of the dentition in the first tooth image data; The step of detecting the second largest peripheral area as the largest peripheral area of the dentition in the second tooth image data; and Based on the first inscribed circle inscribed with the first largest peripheral area and the second inscribed circle inscribed with the second largest peripheral area, the first tooth image data and the second tooth image data are performed Integration, or a step of integrating the first tooth image data and the second tooth image data based on the first center point of the first largest peripheral area and the second center point of the second largest peripheral area. The tooth image integration method according to claim 13, wherein the step of integrating the first tooth image data and the second tooth image data includes: The step of detecting the first inscribed circle and the second inscribed circle respectively inscribed with the first largest peripheral area and the second largest peripheral area; The step of detecting the first inscribed sphere and the second inscribed sphere that are the rotating bodies of the first inscribed circle and the second inscribed circle; and The step of integrating the first tooth image data and the second tooth image data based on the first inscribed ball and the second inscribed ball. The tooth image integration method according to claim 13, wherein the step of integrating the first tooth image data and the second tooth image data includes: The step of detecting the first center point and the second center point of the first largest peripheral area and the second largest peripheral area respectively; and The step of integrating the first tooth image data and the second tooth image data based on the first center point and the second center point.

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